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SRV_Channel: added SERVO_DEF_RATE parameter

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this allows for the default rate of servo outputs to be set. This is
needed for some planes where 50Hz isn't enough (eg. tailsitters)
This commit is contained in:
Andrew Tridgell 2017-07-17 09:19:45 +10:00
parent 5b43698e25
commit 4ca3546551
3 changed files with 14 additions and 0 deletions
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2
libraries/SRV_Channel/SRV_Channel.h
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@ -391,6 +391,7 @@ private:
// this static arrangement is to avoid having static objects in AP_Param tables
static SRV_Channel *channels;
static SRV_Channels *instance;
SRV_Channel obj_channels[NUM_SERVO_CHANNELS];
static struct srv_function {
@ -402,6 +403,7 @@ private:
} functions[SRV_Channel::k_nr_aux_servo_functions];
AP_Int8 auto_trim;
AP_Int16 default_rate;
// return true if passthrough is disabled
static bool passthrough_disabled(void) {

2
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -151,6 +151,8 @@ void SRV_Channels::update_aux_servo_function(void)
/// Should be called after the the servo functions have been initialized
void SRV_Channels::enable_aux_servos()
{
hal.rcout->set_default_rate(uint16_t(instance->default_rate.get()));
update_aux_servo_function();
// enable all channels that are set to a valid function. This

10
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -25,6 +25,7 @@
extern const AP_HAL::HAL& hal;
SRV_Channel *SRV_Channels::channels;
SRV_Channels *SRV_Channels::instance;
bool SRV_Channels::disabled_passthrough;
bool SRV_Channels::initialised;
Bitmask SRV_Channels::function_mask{SRV_Channel::k_nr_aux_servo_functions};
@ -102,6 +103,14 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @User: Advanced
AP_GROUPINFO_FRAME("_AUTO_TRIM", 17, SRV_Channels, auto_trim, 0, AP_PARAM_FRAME_PLANE),
// @Param: _DEF_RATE
// @DisplayName: Default output rate
// @Description: This sets the default output rate in Hz for all outputs.
// @Range: 25 400
// @User: Advanced
// @Units: Hz
AP_GROUPINFO("_DEF_RATE", 18, SRV_Channels, default_rate, 50),
AP_GROUPEND
};
@ -110,6 +119,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
*/
SRV_Channels::SRV_Channels(void)
{
instance = this;
channels = obj_channels;
// set defaults from the parameter table